TY - GEN
T1 - A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot
AU - Unlu, Halil Utku
AU - Gonçalves, Vinicius Mariano
AU - Chaikalis, Dimitris
AU - Tzes, Anthony
AU - Khorrami, Farshad
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - A Control Barrier Function (CBF)-based motion planning algorithm is proposed. The algorithm explores an unknown environment to reach a target point, providing velocity commands to the robot controller module. CBFs, along with a circulation inequality are used to generate safe paths toward the goal while preventing collisions with obstacles. The proposed global navigation scheme is experimentally verified on a quadruped platform to demonstrate safe, collision-free exploration over long distances.
AB - A Control Barrier Function (CBF)-based motion planning algorithm is proposed. The algorithm explores an unknown environment to reach a target point, providing velocity commands to the robot controller module. CBFs, along with a circulation inequality are used to generate safe paths toward the goal while preventing collisions with obstacles. The proposed global navigation scheme is experimentally verified on a quadruped platform to demonstrate safe, collision-free exploration over long distances.
UR - http://www.scopus.com/inward/record.url?scp=85189639242&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85189639242&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10610210
DO - 10.1109/ICRA57147.2024.10610210
M3 - Conference contribution
AN - SCOPUS:85189639242
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 12172
EP - 12178
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -